CN112172957A - Wheel leg automatic exchange type obstacle crossing robot - Google Patents
Wheel leg automatic exchange type obstacle crossing robot Download PDFInfo
- Publication number
- CN112172957A CN112172957A CN202011070568.2A CN202011070568A CN112172957A CN 112172957 A CN112172957 A CN 112172957A CN 202011070568 A CN202011070568 A CN 202011070568A CN 112172957 A CN112172957 A CN 112172957A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- wheel
- connecting piece
- leg
- exchange type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
A wheel-leg automatic exchange type obstacle crossing robot. The device comprises a machine body, four azimuth form adjusting devices, four wheel leg adjusting and converting devices, a power supply and a controller; the machine body is of a flat cuboid box structure; the azimuth form adjusting device comprises a first steering engine, a steering engine connecting piece and a second steering engine; the wheel leg adjusting and converting device comprises a roller, a motor, two thigh side plates, a third steering engine, a shank connecting piece and a shank; the power supply is arranged inside the machine body; the controller is respectively and electrically connected with the power supply, the first steering engine, the second steering engine and the third steering engine. The invention has the following beneficial effects: the folding multipurpose concept is applied, and the folding multipurpose structure has the characteristics of high adjustability, wide application range, simple structure, easiness in manufacturing and low cost; the wheel type high-speed moving device has two working modes, wherein the wheel type high-speed moving device is suitable for quick movement under a flat terrain, and the leg type high-speed moving device is suitable for passing through a complex environment, so that the quick transition capability and the high passing performance are considered, the use convenience is effectively improved, and the application prospect is great.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wheel-leg automatic exchange type obstacle crossing robot.
Background
In recent years, with the progress of society, mechanical equipment has been becoming larger and more complicated. However, the existing robot has a complex structure, can not realize wheel-leg switching, and can not flexibly cross the terrain when performing tasks in rugged places, so that the robot can adapt to different working environments. It is necessary to design a wheel-legged robot.
A wheel-legged robot is a mechanical device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. Such devices are currently lacking.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an obstacle crossing robot with automatically exchangeable wheel legs.
In order to achieve the purpose, the wheel leg automatic exchange type obstacle crossing robot provided by the invention comprises a robot body, four azimuth form adjusting devices, four wheel leg adjusting and converting devices, a power supply and a controller; the machine body is of a flat cuboid box structure, four corners of the top surface respectively protrude outwards to form a top circular plate, and four corners of the bottom surface respectively protrude outwards to form a bottom circular plate;
the azimuth form adjusting device comprises a first steering engine, a steering engine connecting piece and a second steering engine; a first steering engine is respectively arranged on each top circular plate, and an output shaft of each first steering engine downwards penetrates through the top circular plate; a steering engine connecting piece is arranged between the top circular plate and the bottom circular plate which are positioned at the same corner, and the upper end of the steering engine connecting piece is connected with an output shaft of the first steering engine; the second steering engine is arranged on the steering engine connecting piece;
the wheel leg adjusting and converting device comprises a roller, a motor, two thigh side plates, a third steering engine, a shank connecting piece and a shank; wherein the two thigh side plates are arranged in parallel; the roller is arranged between the lower ends of the two thigh side plates through a rotating shaft; the motor is arranged on the outer side surface of the lower end of one thigh side plate, and the output shaft is connected with one end of the rotating shaft; the third steering engine is fixed between the middle parts of the two thigh side plates; the shank connecting piece is connected to an output shaft of the third steering engine; one end of the shank is fixed on the shank connecting piece; the upper ends of the two thigh side plates are connected with an output shaft of the second steering engine.
The power supply is arranged inside the machine body; the controller is respectively and electrically connected with the power supply, the first steering engine, the second steering engine and the third steering engine.
The controller adopts stm32 singlechip.
The shank connecting piece adopts a U-shaped plate, and the side edge of the shank connecting piece is connected to an output shaft of the third steering engine.
The inside of the machine body is provided with a plurality of empty grooves.
The thigh side plate is provided with a plurality of openings for reducing weight.
The power supply adopts a storage battery.
The wheel leg automatic exchange type obstacle crossing robot provided by the invention has the following beneficial effects: the folding multipurpose concept is applied, and the folding multipurpose structure has the characteristics of high adjustability, wide application range, simple structure, easiness in manufacturing and low cost; the wheel type high-speed moving device has two working modes, wherein the wheel type high-speed moving device is suitable for quick movement under a flat terrain, and the leg type high-speed moving device is suitable for passing through a complex environment, so that the quick transition capability and the high passing performance are considered, the use convenience is effectively improved, and the application prospect is great.
Drawings
Fig. 1 is a perspective view of a structure of an obstacle crossing robot with automatically exchangeable wheel legs.
FIG. 2 is a schematic structural view of a wheel leg adjusting and switching device in the wheel leg automatic exchange type obstacle crossing robot provided by the invention;
fig. 3 is a schematic structural diagram of an azimuth form adjusting device in the wheel-leg automatic exchange type obstacle crossing robot provided by the invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1-3, the wheel-leg automatic exchange type obstacle crossing robot provided by the invention comprises a robot body 4, four azimuth form adjusting devices, four wheel-leg adjusting and converting devices, a power supply and a controller; the machine body 4 is of a flat cuboid box structure, four corners of the top surface respectively protrude outwards to form a top circular plate, and four corners of the bottom surface respectively protrude outwards to form a bottom circular plate;
the azimuth form adjusting device comprises a first steering engine 10, a steering engine connecting piece 9 and a second steering engine 7; a first steering engine 10 is respectively arranged on each top circular plate, and an output shaft of the first steering engine 10 downwards penetrates through the top circular plate; a steering engine connecting piece 9 is arranged between the top circular plate and the bottom circular plate which are positioned at the same corner, and the upper end of the steering engine connecting piece 9 is connected with an output shaft of a first steering engine 10; the second steering engine 7 is arranged on the steering engine connecting piece 9;
the wheel leg adjusting and converting device comprises a roller 1, a motor 2, two thigh side plates 3, a third steering engine 5, a shank connecting piece 6 and a shank 8; wherein the two thigh side plates 3 are arranged in parallel; the roller 1 is arranged between the lower ends of the two thigh side plates 3 through a rotating shaft; the motor 2 is arranged on the outer side surface of the lower end of one thigh side plate 3, and an output shaft is connected with one end of the rotating shaft; the third steering engine 5 is fixed between the middle parts of the two thigh side plates 3; the shank connecting piece 6 is connected to an output shaft of the third steering engine 5; one end of the shank 8 is fixed on the shank connecting piece 6; the upper ends of the two thigh side plates 3 are connected with an output shaft of a second steering engine 7.
The power supply is arranged inside the machine body 4; the controller is respectively and electrically connected with the power supply, the first steering engine 10, the second steering engine 7 and the third steering engine 5.
The controller adopts stm32 singlechip.
The shank connecting piece 6 adopts a U-shaped plate, and the side edge is connected to the output shaft of the third steering engine 5.
The inside a plurality of dead slots that are equipped with of fuselage 4, firstly in order to alleviate the weight of fuselage 4, secondly can place different parts for this wheel leg automatic switching formula hinders robot carries out different tasks, improves its suitability.
The thigh side plate 3 is provided with a plurality of openings for reducing weight.
The power supply adopts a storage battery.
The working principle of the wheel-leg automatic exchange type obstacle crossing robot provided by the invention is explained as follows:
a controller is utilized to start a power supply to provide power for the walking of the automatic exchange type obstacle crossing robot of the wheel legs; when the robot is on a flat road, the motor 2 is started under the control of the controller, the idler wheel 1 rolls, and therefore the robot with the wheel legs automatically exchanged can move forwards, in the process, the first steering engine 10 can be used for controlling the wheel leg adjusting and converting device to rotate relative to the machine body 4 through the steering engine connecting piece 9, the walking direction of the robot with the wheel legs automatically exchanged can be adjusted, and the walking efficiency of the wheel shape can be improved. The second steering engine 7 can be used for controlling the wheel leg adjusting and converting device to extend and retract, so that the height of the wheel leg automatic exchange type obstacle crossing robot is controlled, and the obstacle crossing function under different environments is realized. The motor 2 can be used for controlling the rotating speed of the roller 1 so as to control the traveling speed of the wheel-leg automatic-exchange obstacle crossing robot.
When the obstacle crossing is needed when a road with complex road conditions is met, the shank 8 is converted into an extended state from a contracted state by using the third steering engine 5, so that the roller 1 is overhead, the automatic wheel leg exchange type obstacle crossing robot is converted into an obstacle crossing state, the direction of the corresponding wheel leg adjusting and converting device can be adjusted by using the four first steering engines 10, and meanwhile, the four wheel leg adjusting and converting devices are controlled by using the four second steering engines 7 to alternately raise and fall to the ground just like a person walks, so that different obstacles are crossed.
Claims (6)
1. The utility model provides a wheel leg automatic switching formula hinders robot more which characterized in that: the wheel leg automatic exchange type obstacle crossing robot comprises a robot body (4), four direction form adjusting devices, four wheel leg adjusting and converting devices, a power supply and a controller; the machine body (4) is of a flat cuboid box structure, four corners of the top surface respectively protrude outwards to form a top circular plate, and four corners of the bottom surface respectively protrude outwards to form a bottom circular plate;
the azimuth form adjusting device comprises a first steering engine (10), a steering engine connecting piece (9) and a second steering engine (7); a first steering engine (10) is respectively arranged on each top circular plate, and an output shaft of each first steering engine (10) downwards penetrates through the top circular plate; a steering engine connecting piece (9) is arranged between the top circular plate and the bottom circular plate which are positioned at the same corner, and the upper end of the steering engine connecting piece (9) is connected with an output shaft of a first steering engine (10); the second steering engine (7) is arranged on the steering engine connecting piece (9);
the wheel leg adjusting and converting device comprises a roller (1), a motor (2), two thigh side plates (3), a third steering engine (5), a shank connecting piece (6) and a shank (8); wherein the two thigh side plates (3) are arranged in parallel; the roller (1) is arranged between the lower ends of the two thigh side plates (3) through a rotating shaft; the motor (2) is arranged on the outer side surface of the lower end of one thigh side plate (3), and an output shaft is connected with one end of the rotating shaft; the third steering engine (5) is fixed between the middle parts of the two thigh side plates (3); the shank connecting piece (6) is connected to an output shaft of the third steering engine (5); one end of the shank (8) is fixed on the shank connecting piece (6); the upper ends of the two thigh side plates (3) are connected with an output shaft of a second steering engine (7);
the power supply is arranged inside the machine body (4); the controller is respectively electrically connected with the power supply, the first steering engine (10), the second steering engine (7) and the third steering engine (5).
2. The wheel-leg automatic exchange type obstacle detouring robot according to claim 1, wherein: the controller adopts stm32 singlechip.
3. The wheel-leg automatic exchange type obstacle detouring robot according to claim 1, wherein: the shank connecting piece (6) is a U-shaped plate, and the side edge of the shank connecting piece is connected to an output shaft of the third steering engine (5).
4. The wheel-leg automatic exchange type obstacle detouring robot according to claim 1, wherein: the machine body (4) is internally provided with a plurality of empty grooves.
5. The wheel-leg automatic exchange type obstacle detouring robot according to claim 1, wherein: the thigh side plate (3) is provided with a plurality of openings for reducing weight.
6. The wheel-leg automatic exchange type obstacle detouring robot according to claim 1, wherein: the power supply adopts a storage battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070568.2A CN112172957A (en) | 2020-10-09 | 2020-10-09 | Wheel leg automatic exchange type obstacle crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070568.2A CN112172957A (en) | 2020-10-09 | 2020-10-09 | Wheel leg automatic exchange type obstacle crossing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112172957A true CN112172957A (en) | 2021-01-05 |
Family
ID=73948925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011070568.2A Pending CN112172957A (en) | 2020-10-09 | 2020-10-09 | Wheel leg automatic exchange type obstacle crossing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112172957A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315587A (en) * | 2005-05-13 | 2006-11-24 | Chiba Inst Of Technology | Leg-wheel separate type robot |
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN106428284A (en) * | 2016-08-30 | 2017-02-22 | 陆任行 | Multi-leg independent mobile carrier |
| CN206218053U (en) * | 2016-12-01 | 2017-06-06 | 天津农学院 | The sufficient search and rescue robot of wheel-leg combined type movement six |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN209176805U (en) * | 2018-11-05 | 2019-07-30 | 山东科技大学 | A kind of quadruped robot |
-
2020
- 2020-10-09 CN CN202011070568.2A patent/CN112172957A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315587A (en) * | 2005-05-13 | 2006-11-24 | Chiba Inst Of Technology | Leg-wheel separate type robot |
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| CN106428284A (en) * | 2016-08-30 | 2017-02-22 | 陆任行 | Multi-leg independent mobile carrier |
| US20190193798A1 (en) * | 2016-08-30 | 2019-06-27 | Renhang LU | Multi-legged independent mobile carrier |
| CN206218053U (en) * | 2016-12-01 | 2017-06-06 | 天津农学院 | The sufficient search and rescue robot of wheel-leg combined type movement six |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN209176805U (en) * | 2018-11-05 | 2019-07-30 | 山东科技大学 | A kind of quadruped robot |
Non-Patent Citations (2)
| Title |
|---|
| SUPAPHON KAMON; UTHAI AOUNGCHAREON; SOMMART THONGKOM: "Design of A Hybrid Leg-Wheel Robot", 《 2019 11TH INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY AND ELECTRICAL ENGINEERING (ICITEE)》 * |
| 蔡胜宇，储泽楠: "基于STM32单片机控制的六足轮腿式机器人研究", 《河南科技》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN112590966B (en) * | 2021-01-11 | 2021-10-26 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
| US11858567B2 (en) * | 2021-02-03 | 2024-01-02 | Hyundai Motor Company | Movable object |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| CN114987643B (en) * | 2022-06-21 | 2023-08-08 | 上海工程技术大学 | Bionic robot capable of realizing two-state switching of wheel legs and height, width and width change |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112172957A (en) | Wheel leg automatic exchange type obstacle crossing robot | |
| CN101428655B (en) | Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle | |
| CN208165136U (en) | A kind of arc leg formula multi-foot robot | |
| CN103362902A (en) | Single-leg hydraulic servo controller for legged robot | |
| CN208165135U (en) | A kind of wheel leg type parallel connection mobile robot | |
| CN106114661A (en) | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism | |
| CN209535274U (en) | A kind of multi-foot robot that gait is advanced with wheeled conversion of advancing | |
| CN101927793B (en) | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion | |
| CN109229228B (en) | Wheel-leg combined robot | |
| CN212828739U (en) | Wheel-track composite trolley | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN209095546U (en) | A kind of omni-directional moving mechanism having obstacle crossing function and robot system | |
| CN108820067B (en) | Multi-mode step rolling moving mechanism and working method thereof | |
| CN206288927U (en) | A kind of small electric jack | |
| CN113560774B (en) | Six axis of robot are with portable welding equipment with guide structure | |
| CN210998671U (en) | Six sufficient robots are got to elevating platform | |
| CN206663233U (en) | A kind of jack catchs type multiple degrees of freedom part machining robot manipulator | |
| CN111422275A (en) | Electro-hydraulic hybrid-driven motion mode reconfigurable foot type robot | |
| CN215968768U (en) | Mobile platform for sensing interaction of industrial robot | |
| CN206358245U (en) | A kind of robot for simulating people's walking | |
| CN104476051A (en) | Space-controllable multi-connecting-rod movable welding robot comprising parallel closed-loop subchains | |
| CN114132407A (en) | High-speed motion mode of hexapod robot | |
| CN220662686U (en) | Wheel-foot mechanical leg and four-foot robot | |
| CN212423329U (en) | Electro-hydraulic hybrid-driven motion mode reconfigurable foot type robot | |
| CN219633794U (en) | Multistage safety protection multiaxis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210105 |
|
| RJ01 | Rejection of invention patent application after publication |